Line capture devices for unmanned aircraft, and associated systems and methods

ABSTRACT

Line capture devices for unmanned aircraft, and associated systems and methods are disclosed. A system in accordance with a particular embodiment includes a line capture device body having a line slot with an open end and a closed end. A retainer is positioned proximate to the line slot and has a rotor with a plurality of rotor arms positioned to extend at least partially across the line slot as the rotor rotates relative to the body. A joint rotatably couples the rotor to the body, and a ratchet device is operably coupled to the rotor to allow the rotor to rotate in a first direction and at least restrict the rotor arm from rotating in a second direction opposite the first. In other embodiments, the retainer can include other arrangements, for example, one or more wire-shaped elements.

CROSS-REFERENCE TO RELATED APPLICATION

The present application is a continuation of U.S. patent applicationSer. No. 15/065,626, filed Mar. 9, 2016, which is a continuation of U.S.patent application Ser. No. 14/569,443, filed Dec. 12, 2014 and issuedas U.S. Pat. No. 9,340,301, which is a divisional application of U.S.patent application Ser. No. 13/483,330, filed May 30, 2012, issued asU.S. Pat. No. 8,944,373, which is a continuation of International PatentApplication No. PCT/US2011/053534, filed Sep. 27, 2011, which claimspriority to U.S. Provisional Patent Application No. 61/386,956, filedSep. 27, 2010 each of which is incorporated herein in its entirety byreference.

TECHNICAL FIELD

The present disclosure describes line capture devices for unmannedaircraft, and associated systems and methods.

BACKGROUND

Unmanned aircraft or air vehicles (UAVs) provide enhanced and economicalaccess to areas where manned flight operations are unacceptably costlyand/or dangerous. For example, unmanned aircraft outfitted with remotelycontrolled cameras can perform a wide variety of surveillance missions,including spotting schools of fish for the fisheries industry,monitoring weather conditions, providing border patrols for nationalgovernments, and providing military surveillance before, during and/orafter military operations.

Existing unmanned aircraft systems suffer from a variety of drawbacks.For example, existing unmanned aircraft systems (which can include theaircraft itself along with launch devices, recovery devices, and storagedevices) typically require substantial space. Accordingly, these systemscan be difficult to install and operate in cramped quarters, such as thedeck of a small fishing boat, land vehicle, or other craft. Anotherdrawback with some existing unmanned aircraft is that, due to small sizeand low weight, they can be subjected to higher acceleration anddeceleration forces than larger, manned air vehicles and can accordinglybe prone to damage, particularly when manually handled during recoveryand launch operations in hostile environments, such as a heaving shipdeck. Yet another drawback with some existing unmanned aircraft systemsis that they may not be suitable for recovering aircraft in tightquarters, without causing damage to either the aircraft or the platformfrom which the aircraft is launched and/or recovered.

BRIEF DESCRIPTION OF THE DRAWINGS

FIGS. 1A-1B illustrate an apparatus configured to recover unmannedaircraft in accordance with embodiments of the disclosure.

FIGS. 2A-2B are enlarged illustrations of a capture device in theprocess of capturing an unmanned aircraft in accordance with anembodiment of the disclosure.

FIGS. 3A-3D illustrate an embodiment of the line capture device shown inFIGS. 2A-2B, and components of the device.

FIG. 4 illustrates a line capture device having a multi-component rotorin accordance with an embodiment of the disclosure.

FIG. 5A-5C illustrate line capture devices having capture gates inaccordance with further embodiments of the disclosure.

FIG. 6 illustrates a line capture device having a sliding linkage gatein accordance with an embodiment of the disclosure.

FIGS. 7A-7B illustrate a line capture device having a translatingretainer in accordance with an embodiment of the disclosure.

DETAILED DESCRIPTION

FIGS. 1A-1B illustrate overall views of apparatuses and methods forcapturing unmanned aircraft in accordance with embodiments of thedisclosure. Beginning with FIG. 1A, a representative unmanned aircraft110 can be captured by an aircraft handling system 100 positioned on asupport platform 101. In one embodiment, the support platform 101 caninclude a boat, ship, or other water vessel 102. In other embodiments,the support platform 101 can include other structures, including abuilding, a truck or other land vehicle, or an airborne vehicle, such asa balloon. In many of these embodiments, the aircraft handling system100 can be configured solely to retrieve the aircraft 110 or, inparticular embodiments, it can be configured to both launch and retrievethe aircraft 110. The aircraft 110 can include a fuselage 111 and wings113 (or a blended wing/fuselage), and is propelled by a propulsionsystem 112 (e.g., a piston-driven propeller).

Referring now to FIG. 1B, the aircraft handling system 100 can include arecovery system 130 integrated with a launch system 170. In one aspectof this embodiment, the recovery system 130 can include an extendableboom 131 having a plurality of segments 132. The boom 131 can be mountedon a rotatable base 136 or turret for ease of positioning. The segments132 are initially stowed in a nested or telescoping arrangement and arethen deployed to extend outwardly as shown in FIG. 1B. In otherembodiments, the extendable boom 131 can have other arrangements, suchas a scissors arrangement, a parallel linkage arrangement or a knuckleboom arrangement. In any of these embodiments, the extendable boom 131can include a recovery line 133 extended by gravity or other forces. Inone embodiment, the recovery line 133 can include 0.25 inch diameterpolyester rope, and in other embodiments, the recovery line 133 caninclude other materials and/or can have other dimensions (e.g., adiameter of 0.3125 inch). In any of these embodiments, a spring orweight 134 at the end of the recovery line 133 can provide tension inthe recovery line 133. The aircraft handling system 100 can also includea retrieval line 135 connected to the weight 134 to aid in retrievingand controlling the motion of the weight 134 after the aircraft recoveryoperation has been completed. In another embodiment, a differentrecovery line 133 a (shown in dashed lines) can be suspended from oneportion of the boom 131 and can attach to another point on the boom 131,in lieu of the recovery line 133 and the weight 134.

In one aspect of this embodiment, the end of the extendable boom 131 canbe positioned at an elevation E above the local surface (e.g., the watershown in FIG. 1B), and a distance D away from the nearest verticalstructure projecting from the local surface. In one aspect of thisembodiment, the elevation E can be about 15 meters and the distance Dcan be about 10 meters. In other embodiments, E and D can have othervalues, depending upon the particular installation. For example, in oneparticular embodiment, the elevation E can be about 17 meters when theboom 131 is extended, and about 4 meters when the boom 131 is retracted.The distance D can be about 8 meters when the boom 131 is extended, andabout 4 meters when the boom 131 is retracted. In a further particularaspect of this embodiment, the boom 131 can be configured to carry botha vertical load and a lateral load via the recovery line. For example,in one embodiment, the boom 131 can be configured to capture an aircraft110 having a weight of about 30 pounds, and can be configured towithstand a side load of about 400 pounds, corresponding to the force ofthe impact between the aircraft 110 and the recovery line 133 withappropriate factors of safety.

In any of the foregoing embodiments, the aircraft 110 is captured whenit flies into the recovery line 133. Once captured, the aircraft 110 issuspended from the recovery line by a wing 113. Further details ofapparatuses and methods for capturing the aircraft 110 are describedbelow with reference to FIGS. 2A-7B.

FIG. 2A is a partially schematic, isometric illustration of an outboardportion of the wing 113 of the aircraft 110 shown in FIG. 1B. The wing113 can include a winglet 116 in the illustrated embodiment but may haveno winglets in other embodiments. In one aspect of the illustratedembodiment, the wing 113 includes a leading edge 114 (which can, butneed not be swept), an outboard edge 115, and a line capture device 140positioned at or near the outboard edge 115. In other embodiments, eachwing 113 can include a plurality of line capture devices 140 locatedalong the span of the wing 113, or a single line capture device locatedaway from the outboard edge 115. In any of these embodiments, the linecapture device 140 can have a cleat-type configuration. The line capturedevice 140 can include a line capture device body 141 with a flange 153that is attached to the wing 113. In operation, the line capture device140 engages the recovery line 133 to releasably and securely attach theaircraft 110 to the recovery line 133. The device 140 can include a lineslot 144 positioned in the body 141, and retainer 146 movably attachedto the body 141. As the aircraft 110 flies toward the recovery line 133(as indicated by arrow A), the recovery line 133 strikes the wingleading edge 114 and causes the aircraft 110 to yaw toward the recoveryline 133, which then slides outboard along the leading edge 114 towardthe line capture device 140 (as indicated by arrow B). The recovery line133 then passes into the line slot 144 and is retained in the line slot144 by the retainer 146, as described in greater detail below. In otherembodiments, the retainer can operate in other manners to secure therecovery line 133 in the line slot 144.

If the aircraft 110 is not properly aligned with the recovery line 133during its approach, the recovery line 133 may strike the line capturedevice 140 instead of the leading edge 114. In one embodiment, the body141 includes a body leading edge 160 that is swept aft so as to deflectthe recovery line 133 away from the aircraft 110. This can prevent theline 133 from fouling and can reduce the yawing moment imparted to theaircraft 110, allowing the aircraft 110 to recover from the missedcapture and return for another capture attempt.

During capture, the recovery line 133 travels outboard along the wingleading edge 114 to position the recovery line 133 at the line slot 144of the line capture device 140. In one aspect of this embodiment, theretainer 146 includes a rotor 147 that rotates relative to the body 141within a rotor slot 145 via a pivot joint (e.g., a pin or axle 149). Therotor 147 includes multiple rotor arms 148, four of which are shown inFIG. 2A as a first rotor arm 148 a, a second rotor arm 148 b, a thirdrotor arm 148 c, and a fourth rotor arm 148 d. Before the line capturedevice 140 engages the recovery line 133, one of the rotor arms (e.g.the first rotor arm 148 a) is located transverse to (e.g. perpendicularto) the line slot 144, and none of the remaining rotor arms extend intothe line slot 144. Accordingly, the first rotor arm 148 a can extendfully or at least partially across the line slot 144. The rotor 147 canbe manually placed in this orientation, or a ratchet mechanism canensure that the rotor 147 stops at only positions for which one of therotor arms 148 extends transverse to the line slot 144. As the recoveryline 133 passes into and along the line slot 144, it presses against thefirst rotor arm 148 a, causing the rotor 147 to rotate clockwise, asindicated by arrow C. As the rotor 147 rotates, the recovery line 133 ispermitted to pass to the end of the line slot 144. At the same time, thesecond rotor arm 148 b rotates into the position previously occupied bythe first rotor arm 148 a, as shown in FIG. 2B. In one aspect of thisembodiment, the line slot 144 (which can be tapered) has a width that isless than the diameter of the recovery line 133. Accordingly, therecovery line 133 can be pinched in the line slot 144 as it travelsoutboard and aft, securing the aircraft 110 to the recovery line 133.The momentum of the aircraft relative to the recovery line 133 providesthe impetus to securely engage the recovery line 133 with the linecapture device 140.

FIGS. 3A-3D illustrate further aspects of a particular embodiment of theline capture device 140 described above with reference to FIGS. 2A-2B.In FIG. 3A, the line capture device 140 is shown from above. The body141 in this embodiment is formed from two components: a base or baseportion 142 and a cover or cover portion 143 that is sealably attachedto the base 142. Both the base 142 and the cover 143 have cut-outs thattogether define the line slot 144. The line slot 144 can have an openend 144 a and a closed end 144 b.Both the base 142 and the cover 143have corresponding flange portions 153 a, 153 b, respectively, thattogether form the attachment flange 153 used to secure the line capturedevice 140 to the aircraft 110 (FIG. 2B). The central portions of thebase 142 and the cover 143 are spaced apart from each other to define,at least in part, the rotor slot 145 in which the rotor 147 rotates.Accordingly, the rotor 147 can be protected from environmental factorsand can be held in place by the base 142 and the cover 143 so as not tobend or deflect significantly as the recovery line 133 (FIG. 2B)impinges on the rotor arms 148. The cover 143 includes a ratchet device,e.g., a ratchet tab 164 that can be bounded by a milled or otherwiseformed groove. Prior to first use, the ratchet tab 164 is bentdownwardly (into the plane of FIG. 3A) toward the base 142. The tab 164can accordingly be sloped inwardly into the rotor slot 145, in adirection generally tangential to the direction of rotation of the rotor147. As a result, the ratchet tab 164 can resist but allow clockwiserotation by the rotor 147, and prevent significant counterclockwiserotation. In this manner, the ratchet tab 164 can allow the rotor 147 toturn as it captures the recovery line 133, and prevent the rotor 147from releasing the recovery line 133 until an operator activelymanipulates the device 140.

FIG. 3B is a top isometric view of an embodiment of the base 142. Asdescribed above, the base 142 includes a cut-out that defines, in part,the line slot 144, and a cut-out that defines, in part, the rotor slot145. The base 142 also includes a pin aperture 151 that receives one endof the pin or axle 149 shown in FIG. 2A. The base 142 can also includefeatures that aid in aligning and securing it to the cover 143 (FIG.3A). For example, the base 142 can include multiple alignment slots 152,shown in FIG. 3B as a first alignment slot 152 a, a second alignmentslot 152 b, and a third alignment slot 152 c. The alignment slots 152a-152 c align with corresponding tabs carried by the cover 143, asdiscussed further below with reference to FIG. 3C. In one aspect of anembodiment shown in FIG. 3B, at least one of the alignment slots (e.g.the second alignment slot 152 b) is tapered to prevent the correspondingtab from pulling out of the slot in a direction generally normal to theplane of FIG. 3B. The base 142 can also include a release aperture 165or other feature that allows the operator to release the recovery line133 (FIG. 3A) after the capture operation is complete. In oneembodiment, the release aperture 165 is positioned to allow the operatorto insert a tool into the rotor slot 145. The tool presses outwardlyagainst the ratchet tab 164 (FIG. 3A) so that the operator can rotatethe rotor counterclockwise and release the recovery line 133.

FIG. 3C is a bottom isometric view of the cover 143, illustrating thecorresponding tabs 154 (shown as a first tab 154 a, a second tab 154 b,and a third tab 154 c) that are received in the alignment slots 152a-152 c described above with reference to FIG. 3B. The second tab 154 bhas tapered sides that slide into the second alignment slot 152 b andthat resist relative motion normal to the plane at FIG. 3C between thecover 143 and the base 142. The cover 143 also includes a pin aperture151 that receives one end of the axle or pin 149, thus securing the pinbetween the cover 143 and the base 142 and capturing the rotor 147 inthe rotor slot 145.

FIG. 3D is an isometric illustration of the rotor 147. The rotor 147includes a hub 150, the four rotor arms 148 a-148 d, and a pin aperture151 that receives the pin 149 described above. In a particularembodiment, the rotor 147 includes four rotor arms to ensure that onlyone rotor arm is positioned in the corresponding line slot 144 at atime. In other embodiments, for example, if the line slot has othershapes or geometries, the rotor 147 can include other numbers of rotorarms 148. One representative example is described further below withreference to FIG. 4.

FIG. 4 is a partially schematic, isometric illustration of a linecapture device 440 configured in accordance with another embodiment ofthe disclosure. In one aspect of this embodiment, the line capturedevice 440 includes a body 441 and a flange 453 for securing the body441 to the aircraft 110 (FIG. 1A). The body 441 has a line capture slot444 that operates in generally the same manner described above withreference to FIGS. 2A-3D. The line capture device 440 further includes aretainer 446 having a rotor 447 that rotates relative to the body 441via a pin or axle (not visible in FIG. 4). The rotor 447 can include afirst or upper rotor portion 447 a positioned adjacent to an upwardfacing surface of the body 441, and a second or lower portion 447 bpositioned adjacent the opposite face of the body 441. The first andsecond portions 447 a, 447 b are connected to each other via the pin,which passes through a corresponding pin aperture in the body 441. Thus,unlike the arrangement described above with reference to FIGS. 3A-3D,the line capture device 440 has two rotor portions with the body 441positioned in between, rather than a single rotor portion positionedbetween a body and a cover.

The retainer 446 shown in FIG. 4 can further include a ratchet devicethat includes a ratchet spring 445 shaped to engage any of the rotorarms 448 carried by the rotor 447. The ratchet spring 445 is shaped toprovide a biasing force directed toward the left of FIG. 4, and, asshown in FIG. 4, bears on two of the rotor arms 448 simultaneously.Accordingly, the ratchet spring 445 can engage the ends of the rotorarms 448. The ratchet spring 445 can include a dog-leg or jog 449 thatbears against the side of one of the arms 448 to restrict or prevent therotor 447 from rotating counterclockwise. This arrangement keeps therotor 447 in position until the recovery line 133 strikes it and rotatesit in a first direction, e.g., counterclockwise (as indicated by arrowC1) as the recovery line 133 passes along the length of the line captureslot 444. The rotor 447 is at least restricted from rotating in a seconddirection, e.g., clockwise (as indicated by arrow C2). Because the rotor447 is positioned toward the end of the line capture slot 444, it caninclude more than four rotor arms 448 (e.g. five rotor arms 448) withonly one of the rotor arms 448 positioned across the line capture slot444.

One feature of the line capture device 440 shown in FIG. 4 is that theratchet arrangement keeps the recovery line 133 from being pulled out ofthe line capture slot 444 even if the recovery line 133 folds during thecapture operation. Another feature of this embodiment is that itrequires no setup prior to use. That is, the ratchet spring 445 operatesto always place the rotor 447 in a position suitable for capture. Stilla further feature is that the line capture device 440 can be easilydisengaged from the recovery line 133, e.g., by (a) pushing the ratchetspring 445 away from the rotor 447 (as indicated by arrow F), thusallowing the rotor 447 to rotate freely in a clockwise direction C2, andthen (b) moving the recovery line 133 out of the line capture slot 444.

FIG. 5A is a partially schematic, top isometric illustration of a linecapture device 540 a configured in accordance with yet anotherembodiment of the disclosure. In this embodiment, the line capturedevice 540 a includes a body 541 having a line slot 544 a and a flange553. The line capture device 540 a also include a retainer 546 that inturn includes multiple independently operable gates 556 (two are shownin FIG. 5 as a first gate 566 a and a second gate 556 b). The gates 556can include flexible but resilient wires or wire-shaped elements thatare attached to the body 541 so as to be biased to positions that extendacross the line slot 544 a. As the recovery line 133 passes into theline slot 544 a, it can push one or both of the gates 556 a, 556 b outof the way, and allow the gate(s) to spring back into position, thussecuring the recovery line 133 within the line slot 544 a. Because thegates 556 a, 556 b are independently operable, they provide a redundancyfeature. As discussed above, the gates 556 a, 556 b can be formed from asuitable high strength wire, and can be rigidly connected to the body541. Accordingly, the gates 556 twist about an axis generallyperpendicular to the plane of FIG. 5A when impinged upon by the recoveryline 133. The body 541 can include two receptacles 546 a, 546 b thatreceive the ends of the corresponding gates 556 a, 556 b to allow eachgate to (successively) completely clear the line slot 544 a as therecovery line 133 passes by. The spring force of the wire (or otherresilient material forming the gates 556 a, 556 b) in torsion causes thegates to return to the positions shown in FIG. 5A after the recoveryline 133 has passed into the line slot 544 a. The body 541 can includethrough-holes 557, with coaxial openings in the oppositely facingsurfaces of the body 541, that receive the proximal ends of thewire-shaped elements forming the gates 556, for securing the elements tothe body. The arrangement shown in FIG. 5A has the advantage ofsimplicity due to the relatively small number of parts it requires.

FIG. 5B illustrates two line capture devices 540 b (one for a right wing113 and the other for a left wing 113), each having a configuration inaccordance with another embodiment of the disclosure. In this particularembodiment, the line capture devices 540 b operate generally similar tothe line capture device 540 a described above with reference to FIG. 5A.In addition, the line capture devices 540 b include a line slot 544 bthat is narrow in the region between the first and second gates 556 a,556 b. Accordingly, it is expected that this arrangement will moresecurely capture a recovery line that passes the first gate 566 a butnot the second gate 556 b. In the embodiments shown in FIGS. 5A and 5B,the gates 556 a, 556 b can be spaced apart from each other by a distancesufficient to accommodate the capture line 133 (FIG. 5A), and the secondgate 556 b can be spaced apart from the closed end 144 b of the lineslot 544 a, 544 b by a distance sufficient to accommodate the captureline 133. In a particular aspect of an embodiment shown in FIG. 5B, theproximal ends of the wire-shaped elements forming the gates 556 a, 556 bcan be offset, and can be received in corresponding offset holes 557 a,557 b in the body 541. The holes can be through holes or can extendpart-way through the opposing surfaces of the body 541.

FIG. 5C illustrates another line capture device 540 c. The line capturedevice 540 c has a single gate 556 c that is structurally similar to thefirst and second gates 556 a, 556 b described above, and that isattached to the corresponding body 541 in a generally similar manner, soas to be biased to a position that extends across a corresponding lineslot 544 c. A receptacle 546 c along the edge of the line slot 544 creceives the end of the gate 556 c as the gate opens. The foregoingarrangement has the advantage of being simpler than the arrangementsdescribed above with reference to FIGS. 5A and 5B. Conversely, thearrangements described above with reference to FIGS. 5A and 5B canprovide redundancy and an additional level of security for capturing therecovery line 133.

FIG. 6 illustrates still another line capture device 640 that includes abody 641 having a line slot 644. The body 641 carries a retainer 646that slides relative to the body 641 during capture. In particular, theretainer 646 can include a strike plate 680 and a closing tab 682. Thestrike plate 680 is pivotably connected to the body 641 at a first pivotjoint 681 a, and is pivotably connected to the closing tab 682 at asecond pivot joint 681 b. The strike plate 680 also carries a guide pin661 that is received in a corresponding guide slot 662 of the closingtab 682. In operation, the closing tab 682 can guide the recovery line633 to hit the strike plate 680, which can be spring-loaded. Upon beingstruck by the recovery line 133, the strike plate 680 rotates clockwiseabout the first pivot joint 681 a, opening the line slot 644 andallowing the recovery line 633 to pass into the line slot 644. As thestrike plate 680 rotates, it pulls the closing tab 682 across theentrance of the line slot 644 via the second pivot joint 681 b. Themotion of the closing tab 682 is guided by the guide pin 661 received inthe guide slot 662.

FIGS. 7A and 7B illustrate still another line capture device 740 inaccordance with an embodiment of the disclosure. Referring first to FIG.7A, the line capture device 740 includes a body 741 carrying a mountingflange 753. The body 741 also includes a guide slot 762. A retainer 746has two ears 763, each of which extends around an oppositely facing sideof the body 741. One or more guide pins 761 (e.g., two) connect the twoears 763 together and pass through the guide slot 762. Accordingly, theretainer 746 can translate back and forth as indicated by arrow Grelative to the body 741. The retainer 746 includes a line slot 744 intowhich the recovery line 133 passes during a recovery/capture process.The retainer 746 also includes a retainer slot 757 that receives acorresponding body tab 758 of the body 741 when the recovery line 133has been captured, as discussed further below with reference to FIG. 7B.

FIG. 7B illustrates the line capture device 740 after it hassuccessfully engaged the recovery line 133. The recovery line 133 haspassed to the end of the line slot 744, and the force of the recoveryline 133 on the retainer 746 has driven the retainer to the right asindicated by arrow G1, with guidance provided by the guide pins 761 inthe guide slot 762. Once in this closed position, a ratchet spring 755carried by the body 741 engages one of the ratchet teeth 759 carried bythe retainer 746 to prevent the retainer from moving to the left, whichwould allow the recovery line 133 to escape from the line slots 744. Asthe retainer 746 moves to the right as indicated by arrow G1, the bodytab 758 passes into the retainer slot 757. This action prevents theretainer 746 from bending or deflecting outwardly from the plane of FIG.7B, which might otherwise allow the recovery line 133 to pass out at theslot 744. To disengage the recovery line 133, the operator can rotatethe ratchet spring as indicated by arrow R1 and slide the retainer 746as indicated by arrow G2.

One feature of the embodiments described above with reference to FIGS.1A-7B is that the line capture devices can not only capture the recoveryline, but also resist or account for a tendency of the recovery line todisengage from the line slot as the aircraft twists and rotates duringthe capture maneuver. Accordingly, embodiments of the present disclosureare expected to secure the aircraft with a potentially greater degree ofreliability than other devices.

From the foregoing, it will be appreciated that specific embodiments ofthe disclosure have been described herein for purposes of illustration,but that various modifications may be made without deviating from thedisclosure. For example, the slots for capturing the recovery line canhave other orientations, shapes, and/or sizes in other embodiments. Thedevices used to retain the recovery lines within the slots can includeother arrangements to keep them biased in the closed position. Sucharrangements can include other types of springs. The devices can includeother components or other arrangements of components in otherembodiments. The retainers can move between first positions (restrictingaccess to the line slot) and second positions (allowing access to theline slot) that are different than those described above. The rotorrotation directions can be different than those expressly disclosedabove. In many of these embodiments, the recovery line forces theretainer to move from the first position to the second position. Inother embodiments, other forces can cause this motion. The boom and/orother elements supporting the recovery line can have otherconfigurations in other embodiments.

Certain aspects of the disclosure described in the context of particularembodiments may be combined or eliminated in other embodiments. Forexample, the line capture devices were described in the context of arepresentative unmanned air vehicle shown in FIGS. 1A and 1B. In otherembodiments, any of the foregoing line capture devices can be mounted onsuitable aircraft having other configurations. The alignment slots andtabs described above in the context of the base and cover, respectively,in FIGS. 3B and 3C can be “swapped” and instead placed on the cover andbase, respectively. Further, while advantages associated with certainembodiments have been described in the context of those embodiments,other embodiments may also exhibit such advantages and not allembodiments need necessarily exhibit such advantages to fall within thescope of the present disclosure. Accordingly, the disclosure canencompass other embodiments not expressly described or shown herein.

1-29. (canceled)
 30. An aircraft system, comprising: a line capturedevice body having a line slot with an open end and a closed end; and aretainer movably coupled to the line capture device body, the retainercomprising a first part movably coupled to a second part, the first partincluding a rotor that is rotatably coupled to the line capture devicebody, at least one of a plurality of rotor arms of the rotor to prevententry of a capture line in a first angular orientation of the rotor, theat least one of the plurality of rotor arms further to allow entry ofthe capture line in a second angular orientation of the rotor.
 31. Theaircraft system of claim 30, wherein the first part is slideablerelative to the line capture device body between a first position and asecond position, with the first part positioned to at least restrictaccess to or from the line slot when in the first position, andpositioned to allow the capture line to enter the line slot when in thesecond position.
 32. The aircraft system of claim 30, further includinga guide pin carried by the line capture device body, and wherein thefirst part includes a closing tab having a slot in which the guide pinis received and the second part includes a strike plate pivotablycoupled to the line capture device body and the closing tab.
 33. Theaircraft system of claim 30, wherein the first part is pivotably andslidably connected to the line capture device body and the second partis pivotably connected to the line capture device body.
 34. The aircraftsystem of claim 30, wherein the retainer is spring-loaded.
 35. Theaircraft system of claim 30, wherein the line slot is narrower towardthe closed end than toward the open end.
 36. The aircraft system ofclaim 30, further including an aircraft, wherein the line capture devicebody is rigidly attached to the aircraft.
 37. The aircraft system ofclaim 30, wherein the aircraft includes a fuselage and a wing, andwherein the line capture device body is attached to the wing.
 38. Amethod for capturing an aircraft, comprising supporting a capture lineand engaging, with the capture line, a line capture device carried by anaircraft, wherein engaging the line capture device comprises: allowing afirst portion of the capture line to enter a line capture slot of theline capture device, and while the first portion of the capture line isin the line capture slot, obstructing the line capture slot to at leastresist retention of a second portion of the capture line in the linecapture slot, the line capture slot including a rotor that is rotatablycoupled to a body of the line capture device, at least one of aplurality of rotor arms of the rotor to obstruct the capture line in afirst angular orientation of the rotor, the at least one of theplurality of rotor arms further to allow entry of the capture line in asecond angular orientation of the rotor.
 39. The method of claim 38,wherein the line capture device includes a retainer that is moveablerelative to a body of the line capture device, and wherein obstructingthe line capture slot includes moving he retainer relative to the bodyof the line capture device.
 40. The method of claim 39, wherein movingthe retainer relative to the body of the line capture device includesmoving a first part of the retainer relative to a second part of theretainer.
 41. The method of claim 38, wherein supporting the captureline includes supporting the capture line with a water vessel, a landvehicle, or an airborne vehicle.
 42. An aircraft system, comprising: aline capture device body having a line slot with an open end and aclosed end; and a retainer having a rotor that is rotatably coupled tothe line capture device body, at least one of a plurality of rotor armsof the rotor to prevent entry of a capture line in a first angularorientation of the rotor, the at least one of the plurality of rotorarms further to allow entry of the capture line in a second angularorientation of the rotor.
 43. The aircraft system of claim 42, whereinthe rotor is to slide relative to the line capture device body.
 44. Theaircraft system of claim 42, wherein the retainer includes one or morelobes positioned to extend across the line slot.
 45. The aircraft systemof claim 42, wherein the rotor is to be movable relative to the linecapture body.
 46. The aircraft system of claim 42, wherein the rotor isto pivot about a pivot joint.
 47. The aircraft system of claim 42,wherein the retainer is spring-loaded.
 48. The aircraft system of claim42, wherein the line slot is narrower toward the closed end than towardthe open end.
 49. The aircraft system of claim 42, further including anaircraft, wherein the line capture device body is rigidly attached tothe aircraft.
 50. The aircraft system of claim 30, further including aratchet to allow the rotor to rotate in a first direction and torestrict rotation of the rotor in a second direction.